TW201940395A - Modular structure for an automated storage and retrieval system - Google Patents

Abstract

An automated system structure is disclosed which may be quickly and efficiently assembled using a number of storage modules. Storage modules may be comprised of a pair of shelf modules, each comprising a number of defined storage locations for storing totes, cartons, trays or other containers. The shelf modules may themselves be modular units comprising a number of horizontal storage levels affixed to a pair of vertical support assemblies at each end of the shelf modules. The pair of shelf modules may be accurately spaced from each other by mounting the shelf modules to tie beams at the bottom and tie plates at the top.

Description

Modular structure for automatic storage and retrieval system

An automated order fulfillment system used in the supply chain can fulfill orders for individual product items (also referred to herein as "eaches"). Traditional order fulfillment facilities store orders in containers in a multi-level storage structure with an array of vertical and horizontal storage spaces. The automated order fulfillment system further includes a mobile robot that moves horizontally and vertically within the structure to transfer to and from containers in the storage space within the structure.

Currently, automated system structures are constructed by assembling individual components one at a time, sometimes referred to as a "stick-built" structure. For example, the tracks of the first horizontal level are individually fixed to the vertical tracks. Then, the second horizontal level is fixed to the vertical rail, and so on. The "component-based" approach has the disadvantage of requiring a lot of time-consuming adjustments required for reliable mobile robot operation. In recent years, partly due to advances in mobile robot technology for order fulfillment and increased demand for automated product delivery, automated order fulfillment facilities have grown significantly and demand is strong. To meet this demand, structures used in such facilities need to be quickly and efficiently constructed.

The present invention relates to a structure for an automatic storage facility, which can be assembled quickly and efficiently using several storage modules. The storage module may include a pair of shelf modules, each of which includes a number of defined storage locations for storing shipments, cartons, trays, or other containers. The pair of shelf modules are accurately spaced from each other to allow a mobile robot to pass between the pair of shelf modules and retrieve or transport them to the inventory at a storage location in any one of the shelf modules in the completed storage structure. The tower module used by the robot to climb within the structure can be assembled in a similar manner.

The pair of shelf modules can be accurately spaced from each other by mounting the shelf modules to a tie beam at the bottom and a tie plate at the top. The tie beams and tie plates have alignment features that cooperate with the alignment features on the top and bottom surfaces of the shelf modules to ensure that the shelf modules are spaced quickly and accurately from each other. The tie beams and tie plates have additional alignment features to allow rapid and accurate assembly of multiple storage modules oriented horizontally and / or vertically relative to each other.

[Summary] is provided to introduce in a simplified form one of the concepts that will be described further in [Embodiment] below. [Summary of the Invention] It is not intended to identify key features or basic features of the claimed subject matter, nor is it intended to be used to facilitate the determination of the category of the claimed subject matter. Claims are not limited to implementations that address any or all of the shortcomings mentioned in [Prior Art].

Priority Claim This application claims the priority of US Provisional Patent Application No. 62 / 628,176 filed on February 8, 2018 under the name "MODULAR STRUCTURE FOR AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM". The entire content of this application is based on The citation is incorporated herein.

The present invention generally relates to an automatic system structure that can use several storage modules to assemble quickly and efficiently. The storage module may include a pair of shelf modules, each of which includes a number of defined storage locations for storing shipments, cartons, trays, or other containers. The shelf modules themselves may be modular units, which include a number of horizontal storage levels fixed to a pair of vertical support assemblies at each end of the shelf modules. The pair of shelf modules are accurately spaced from each other to allow a mobile robot to pass between the pair of shelf modules and retrieve the inventory that is transported to a storage location in any one of the shelf modules in the completed storage structure.

The pair of shelf modules can be accurately spaced from each other by mounting the shelf modules to a tie beam at the bottom and a tie plate at the top. These tie beams and tie plates have alignment features in the form of round pins. The top and bottom surfaces of the shelf modules then include round holes and oblong holes on which the pins on the tie beams and tie plates are mounted. The arrangement of pins, holes, and long holes ensures that the shelf modules are accurately positioned and prevents the shelf modules and the shelf boards from improper assembly of the shelf modules. The tie beams and tie plates have additional alignment features to allow rapid and accurate assembly of multiple storage modules oriented horizontally and / or vertically relative to each other.

It should be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the invention to those skilled in the art. In fact, the present invention is intended to cover the substitutions, modifications, and equivalents of these embodiments, which are included in the scope and spirit of the present invention defined by the scope of the accompanying patent application. Furthermore, in the following detailed description of the present invention, numerous specific details are set forth to provide a thorough understanding of the present invention. However, it should be apparent to one of ordinary skill that the present invention may be practiced without these specific details.

The terms "top" and "bottom", "up" and "down" and "vertical" and "horizontal" as used herein are for illustration and description only and are not intended to limit the description of the invention, as the reference items can be positioned and oriented exchange. Additionally, as used herein, the terms "substantially" and / or "about" mean that a specified size or parameter can vary within one acceptable manufacturing tolerance for a given application. In one embodiment, the acceptable manufacturing tolerance is ± 0.25% of a given size.

FIG. 1 shows a partial view of one embodiment of an order fulfillment facility 100. The order fulfillment facility 100 shows a storage structure 102 that includes a number of racks 104 of storage locations 106. According to an aspect of the present invention, the storage structure 102 may be formed by a plurality of storage modules 110, as will be explained below. Each of the racks 104 defined by the storage module 110 includes an y-z array of storage locations 106 in a horizontal row and a rank change tower along the row (in an embodiment, it may be a vertical tower). The mobile robot 148 may travel between the storage levels in the z direction within the level change tower. The storage module 110 forms a pair of racks 104 configured to face each other and separated by the aisle 108. An aisle 108 may have a width such that a mobile robot 148 traveling within the aisle 108 may transfer containers to the racks 104 on both sides of the aisle 108.

The order fulfillment facility 100 may further include a deck 112 between the storage structures 102 at different levels. In the illustrated embodiment, the decks 112 are configured as pairs 112-1 and 112-2, but need not be configured as pairs in other embodiments. The deck 112 may extend between the aisles so that the robot can be manipulated in the x-y plane of each deck to travel between different aisles. One of the decks 112-1 or 112-2 may also extend into their respective walkways to allow technicians to enter a walkway 108 to service components within the walkway.

FIG. 1 also shows an example of the workstation 111. In an embodiment, each workstation is equipped to receive a mobile robot pair. One of the first mobile robots at one station carries a product shipment with an item for fulfilling a product request. A second mobile robot at the station carries the order shipment, and items from the product shipment are placed therein to fulfill the product request. A worker at a workstation manually transfers items from a product shipment to an order shipment under the guidance of an inventory control system at the workstation.

As mentioned above, the order fulfillment facility 100 may further include a number of mobile robots 148 for transfers to and from containers or other product containers at the storage location 106 in the workstation 111 and the rack 104. In an embodiment, the mobile robot 148 may be automatically guided and / or track-guided to move horizontally and vertically within the aisle 108 to transfer shipments or other product containers between the mobile robot 148 and the storage location 106. For example, one track system including horizontal rails may be fixed to storage modules 110 at different vertical levels, as will be explained below. The horizontal rail is connected to storage shelves on both sides of a walkway 108 along a x direction on a given positioning step. As mentioned above, the rack 104 may include a step change tower within which the mobile robot may travel vertically in the z direction between the steps of the storage position 106.

For example, the following U.S. patents and patent applications describe further details of workstations, rail systems, and mobile robots that can be used in conjunction with the storage module 110 of the present invention: John Lert published on September 22, 2015 under the name "Automated System For Transporting Payloads '' U.S. Patent No. 9,139,363, U.S. Published Patent Application No. 2016/0355337 filed by John Lert and William Fosnight on June 2, 2016 and entitled `` Storage and Retrieval System '', and US Published Patent Application No. 2017/0313514 entitled "Order Fulfillment System" filed on May 10, 2017. The entire contents of each of these patents and applications are incorporated herein by reference.

FIG. 1 shows several storage modules 110 assembled together into a storage structure 102. FIG. 2 shows a single storage module 110. Further details of the storage module 110 will now be described with reference to FIGS. 2 to 4B. The storage module 110 of FIG. 2 shows a first-level storage module (that is, a storage module used on the first level and adjacent to a backplane 120 of the facility 100). The first-order storage module is placed on the base tie beam 122 bolted or otherwise fixed to the base plate 120.

Each storage module 110 includes two shelf modules 126 and 128 spaced a specific and repeatable distance apart, as will be explained below. The two shelf modules 126 and 128, which may be identical to each other, each include a number of horizontal levels 130, as seen, for example, in FIG. 3A. In different embodiments, the number of horizontal levels 130 in each shelf module 126, 128 may vary. The horizontal level 130 in the shelf module 126 may be horizontally aligned with the horizontal level 130 in the shelf module 128.

As seen, for example, in FIGS. 3A to 4A, each of the horizontal stages 130 in the two shelf modules 126, 128 may include a pair of horizontal support members 134. Several container guides 140 may extend generally vertically between each pair of horizontal support members 134 at various stages 130. The container guide 140 is used to define the positions of the containers stored at the various levels 130.

The horizontal support member 134 extends between and is connected to a pair of vertical support assemblies 142 at each end of the horizontal support member. Each vertical support assembly 142 may include a pair of vertical support members 144 and a series of reinforced trusses 146 extending between the vertical support members 144. The horizontal support member 134 may be fixed to the vertical support assembly 142, such as by bolting, welding, and / or other known attachment methods. The stage 130 and the vertical support assembly 142 may be formed of a high-strength material such as, for example, steel, galvanized steel, and other metals.

The assembly of the storage module 110 will now be described with reference to FIGS. 3A to 5. Assemble the two shelf modules 126, 128 by assembling the horizontal support member 134 and the vertical support assembly 142 and then fixing the horizontal support member 134 to the vertical support assembly 142 while the vertical support assembly is supported in a fixed frame. In a fixed frame at ground level. The cross brace 150 is added to the shelf module 126 before being removed from the holder to ensure that the shelf module 126 maintains its squareness. As seen in, for example, FIGS. 2, 3A, and 4B, the top surface in the x-y plane of each of the shelf modules 126, 128 may also include a cross brace 152. The cross braces 150, 152 increase the structural rigidity of the shelf modules 126, 128 by, for example, resisting torque forces around the x, y, and z axes and maintaining the horizontal support members 134 orthogonal to the vertical support assembly 142. The cross braces 150, 152 may be metal bars or alternatively a threaded rod cross brace and may be formed of a high strength material such as, for example, steel, galvanized steel, and other metals. It should be understood that other structures or components may be added to strengthen the storage module 110. In another example, the cross braces in at least the vertical plane may be replaced with a welded metal structure to provide stiffening and an interface to support other system components.

Next, the two shelf modules 126, 128 are mounted to the tether beam 122 (for the first-order storage module 110). As will be explained below, the tether beam 122 is accurately positioned and includes alignment features to ensure that the shelf modules 126 and 128 are accurately and repeatably positioned and spaced relative to each other.

After being fixed on the tie beam 122, each shelf module 126, 128 has an inner surface facing each other in the y-z plane, and each has an outer surface facing away from each other in the y-z plane.

The robot support rail 145 (FIGS. 3B and 4A) can be fixed to each horizontal level 130 at the inner surface of the shelf modules 126, 128. These rails 145 are provided to support a mobile robot as it moves horizontally through a storage module 110 at any level 130.

As mentioned, the present invention includes several features to ensure fast and easy but highly accurate placement of the shelf modules 126 and 128 in the storage module 110, which can be repeated in all storage modules 110. As seen in FIG. 5, a bottom support plate 156 is provided at the bottom of each vertical support assembly 142. The bottom support plate 156 is bolted to a pair of tie beams 122, wherein the bottom support plate is bolted to the first tie beam at a first end of one of the shelf modules 126, 128, and the bottom support plate is bolted to the shelf modules 126, 128. The second opposite end is bolted to the second tie beam.

First, a known measurement method is used to accurately position the tether beams 122 relative to each other, such as +/- 0.5 mm in all 6 degrees of freedom. Next, the two shelf modules 126, 128 are lowered onto the tie beam 122 to use the positioning pins on the tie beam to make placement easier and more accurate. FIG. 6 shows a pair of tie beams 122 and a bottom support plate 156. For clarity, the shelf modules 126 and 128 are omitted. As shown in the figure, each tie beam 122 includes a pair of positioning pins 160 extending upward from an upper surface of one of the tie beams 122. The bottom support plates 156 (fixed to the shelf modules 126, 128) are lowered onto the tie beams 122 so that the positioning pins 160 are received in the openings 162 in the bottom support plates 156.

The opening 162 includes a pair of circular holes 162a on the bottom support plate 156 received on the first tie beam and a pair of oblong holes 162b on the bottom support plate 156 received on the second tie beam. A long hole 162b is provided in one end of the shelf module to consider any tolerance in the initial placement of the tie beam and any tolerance in the manufacture of the shelf module. Therefore, the length of the long hole 162b can be the maximum tolerance of both the placement of the tie beam and the manufacture of the shelf module. In an embodiment, the long hole 162b may be about 3 mm longer than the aperture, but in other embodiments, it may be smaller or larger than the aperture. In order to allow all the vertical support assemblies 142 to be the same, the holes and the long holes may instead be opposed to each other on each tie beam 122.

After the shelf modules 126 and 128 are seated on the positioning pins 160, bolts (not shown) assembled through the bottom support plate 156 and the bolt holes 164 in the tie beam 122 can be used to bolt the shelf modules 126 and 128. Connected to the tie beam 122. Alternatively or in addition, in other embodiments, the shelf modules 126, 128 may be welded to the tether beam 122. After placing the shelf module, a narrow lane 168 (FIGS. 3A and 5) can be bolted between the tie beams 122. As shown in order from FIG. 7A to FIG. 7D, a narrow track 168 may be installed before one or two shelf modules are lowered onto the positioning pins. The flange 170 may be used to secure the narrow lane 168 in the storage module 110.

The tie beam 122 with the positioning pins 160 allows the shelf modules 126, 128 to be spaced quickly, easily, and accurately to form a storage module 110. The shelf modules 126 and 128 are separated by a good distance so that a mobile robot (not shown in the figure) can travel in the space between the shelf modules 126 and 128 and transfer the inventory to the storage positions in the shelf modules on both sides.

In addition, each tie beam 122 is used to reconstruct the position reference of each horizontally aligned storage module 110. For example, in FIG. 6, each tie beam 122 includes a second set of positioning pins (labeled as a group of 160 a) and bolts for mounting the additional storage module 110 to the left and / or right of the storage module 110. hole. The pair of locating pins 160 on each tie beam 122 ensures that adjacent storage modules 110 will be quickly, easily, and accurately aligned relative to each other.

A tether beam 122 is provided to accurately locate and secure the bottom portion of the first-order storage module 110. As shown in FIG. 5, the tie plate 174 may be fixed at the top of the shelf modules 126, 128 to extend between the shelf modules 126, 128 to fix the space between the top portions of the shelf modules 126, 128. The tie plate 174 may include the same positioning pin configuration as the tie beam 122, but the positioning pin may extend downward from the tie plate 174 to a hole on one side of the storage module and a long hole in the opposite side of the storage module , As explained above. The tie plate 174 may be bolted to the support plate 176 above the top of the vertical support assembly 142 of each of the shelf modules 126, 128.

The tie plate 174 may also serve as a new reference for placing the additional storage module 110 vertically above the other storage modules 110. That is, the tie plate 174 may have the same pin configuration as the tie beam 122, which extends upward (and downward, as described above), so that a second storage module will be aligned with a first storage module. Top and bolted to the first storage module. As seen in FIG. 5, the tie plate 174 also includes an extra step flange 170 for fixing the narrow track 168.

8 to 13D, one or more modules at a given positioning stage may include a structure for enabling a mobile robot to move vertically in the z-direction. These so-called level-change tower modules 210 may be vertically aligned with each other to allow the mobile robot to travel vertically throughout the storage structure 102. As will be explained below, the rank change tower module 210 may include a vertical tower in which the mobile robot can move vertically and a horizontal rank 130 in which the mobile robot can move horizontally to enter or leave the vertical tower (as explained above).

As seen in FIG. 8, the first-order change tower module 210 may include a pair of rails that can have its bottom surface mounted to one of the pair of tie beams 122 (assuming at ground level) (as described above) that can be mounted to the shelf modules 126 and 128. And channel modules 226 and 228. As described above with respect to the shelf modules 126, 128, the rail and channel modules 226, 228 can be quickly, easily, and accurately spaced from each other by the alignment features on the tie beam 122. The rail and channel modules 226, 228 can also be fixed to each other at the top by a pair of tie plates 174, as described above with respect to the shelf modules 126 and 128. The tie plate 174 allows several tower modules 210 to be stacked vertically, so that the mobile robot can move vertically throughout the support structure 102.

Each of the rail and channel modules 226, 228 may include a vertical support assembly 242 at the opposite end, and its structure may be similar to the vertical support assembly 142 described above. Each of the rail and channel modules 226, 228 may further include a horizontal support member 234 forming a horizontal level 230, and the structure of the horizontal level 230 may be similar to the horizontal level 130 described above.

Unlike the storage module 110, the rank change tower module 210 may include a pair of vertical channels 250 defining a vertical tower 252, and a mobile robot may move vertically through the rank change tower module 210 through the vertical tower 252. Each channel 250 may include, for example, one of the racks 254 shown in FIG. 9. John Lert and William Fosnight on May 10, 2017, applicants named `` Order Fulfillment System '' jointly pending US Published Patent Application No. 2017/0313514 revealed a vertical tower containing a channel and rack ( Such as tower 252) and further details of a mobile robot capable of traveling vertically within this vertical tower, the entire contents of this application are incorporated herein by reference.

10A, 10B, and 10C show a top view, an end view, and a side view of the tower module 210, respectively. The two rails and the channel modules 226, 228 used to construct the tower module 210 can be seen in the top and end views of FIGS. 10A and 10B. Like the storage module 110, each tower module can be built in a fixed frame. When a welding frame supporting one of the horizontal support members 234 and a robot support rail 245 are bolted into an appropriate position between the vertical support assemblies 242, the The holder accurately holds the two welded vertical support assemblies 242. The container may or may not be stored in the tower module 210, but the same horizontal support members 234 are used to secure the rails and the outside of the channel modules 226 and 228.

11A and 11B are exploded and assembled views of rails and channel modules 226 and 228 including a vertical support assembly 242, a horizontal support member 234, and a vertical channel 250. As mentioned previously, these components are assembled in a fixed frame at ground level before being lifted into place to constitute a tower module 210 in the automatic storage facility 100.

FIG. 12 is an exploded perspective view of one of the level changing tower modules 210. As mentioned above, the tower module 210 may be attached to the tether beam 122 and the tie plate 174 using alignment features and fasteners such as bolts and / or weldments to provide fast, easy, and accurate assembly of the tower module 210 . As mentioned above, the tie beam 122 and the tie plate 174 can be reconstructed and can be positioned horizontally as one of the storage references 110 and / or the tower module 210 adjacent to the tower module 210 shown in FIG. 12.

13 and 14 are perspective and side views of a storage module 110 assembled vertically and horizontally into a storage structure 102. Although the storage module 110 is shown in the figure, it should be understood that one or more of the modules 110 may be replaced with a tower module 210. The space between the shelf modules 126, 128 defines one of the aisles 108 described above with respect to FIG. The configurations shown in FIGS. 13 and 14 are for illustration only, and it should be understood that the storage module 110 and the tower module 210 may be assembled in any of a variety of other configurations to provide a storage structure 102.

In summary, the present invention relates to a structure for an order fulfillment facility, the structure including a plurality of storage modules, each of the plurality of storage modules including a pair of spaced shelf modules, the spaced shelf modules Each includes a storage shelf for storing inventory containers, wherein the plurality of storage modules are configured to be assembled vertically and horizontally relative to each other.

In another example, the present invention relates to a structure for an order fulfillment facility. The structure includes a first storage module and a second storage module, which are configured to be positioned end-to-end with each other. A storage module includes: a first end having a first support plate at a bottom of one of the first storage modules; a second end opposite the first end and having the first storage module A second support plate at the bottom of the set; and a first set of storage positions for storing the inventory container; the second storage module includes: a third end having a second storage module A third support plate at a bottom; a fourth end opposite the third end and a fourth support plate at the bottom of the second storage module; and a second set of storage positions, They are used to store inventory containers; and a first tie beam is configured to support the first end of the first storage module, wherein one of the first tie beam and the first support plate includes a A first positioning pin, and the other of the first tie beam and the first support plate includes a first positioning hole, the first The positioning pin is configured to pass through the first positioning hole to be received to align the first support plate with the first tie beam; a second tie beam is configured to support the first storage module The second end and the third end of the second storage module, wherein one of the second tie beam and the second support plate includes a second positioning pin, and the second tie beam and the second The other of the support plates includes a second positioning hole, and the second positioning pin is configured to pass through the second positioning hole to be received to align the second support plate with the second tie beam, and wherein One of the second tie beam and the third support plate includes a third positioning pin, and the other of the second tie beam and the third support plate includes a third positioning hole. It is configured to be received through the third positioning hole to align the third support plate with the third tie beam and align the third support plate with the second support plate.

In another example, the present invention relates to a structure for an order fulfillment facility. The structure includes: a first storage module and a second storage module, which are configured to be positioned above and below each other. The first storage The module includes a first end including a first support plate at a bottom of one of the first storage modules and a first system plate at a top of one of the first storage modules; a second end, The first end is opposite, and includes a second support plate at the bottom of the first storage module and a second system plate at the top of one of the second storage modules; and a first set of storage positions. A first tether beam configured to support the first end of the first storage module, wherein one of the first tether beam and the first support plate includes a A first positioning pin, and the other of the first tie beam and the first support plate includes a first positioning hole, the first positioning pin being configured to pass through the first positioning hole to be received so that the A first support plate is aligned with the first tie beam; a second tie beam is configured to support the first storage module of the first storage module. End, wherein one of the second tie beam and the second support plate includes a second positioning pin, and the other of the second tie beam and the second support plate includes a second positioning hole, the second The positioning pin is configured to pass through the second positioning hole and is received to align the second support plate with the second tie beam. The second storage module includes a third end including the second end. A third support plate at the bottom of one of the storage modules; a fourth end opposite the third end and including a fourth support plate at the bottom of the second storage module; and a second A group of storage positions, which are used for storing the inventory container; wherein one of the first system plate and the third support plate includes a third positioning pin, and the other of the first system plate and the third support plate Including a third positioning hole, the third positioning pin being configured to pass through the third positioning hole to be received to align the third support plate with the first system plate; and wherein the second system plate and One of the fourth support plates includes a fourth positioning pin, and the other of the second tie plate and the fourth support plate includes a fourth positioning hole, Through fourth positioning pin configured to pass through the fourth positioning hole to be received so that the fourth support plate aligned with the second tie plate.

The foregoing detailed description of the invention has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form disclosed. Many modifications and changes can be made in light of the above teachings. The described embodiments have been chosen to best explain the principles of the invention and its practical applications to thereby enable others skilled in the art to best utilize the invention in various embodiments and with various modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the scope of the accompanying patent application.

100‧‧‧Order Fulfillment Facilities / Automatic Storage Facilities

102‧‧‧Storage Structure / Support Structure

104‧‧‧ Rack

106‧‧‧Storage location

108‧‧‧ aisle

110‧‧‧Storage Module

111‧‧‧Workstation

112‧‧‧ deck

112-1‧‧‧ Deck

112-2‧‧‧ Deck

120‧‧‧ floor

122‧‧‧ Tie Beam

126‧‧‧Shelf Module

128‧‧‧shelf module

130‧‧‧ horizontal level

134‧‧‧horizontal support members

140‧‧‧ container guide

142‧‧‧Vertical support assembly

144‧‧‧Vertical Support

145‧‧‧Robot support rail

146‧‧‧ reinforced truss

148‧‧‧mobile robot

150‧‧‧ cross brace

152‧‧‧ Cross brace

156‧‧‧ bottom support plate

160‧‧‧ Locating Pin

160a‧‧‧ positioning pin

162‧‧‧ opening

162a‧‧‧ round hole

162b‧‧‧long oval hole

164‧‧‧bolt hole

168‧‧‧Narrow Road

170‧‧‧ flange

174‧‧‧Department

176‧‧‧ Upper support plate

210‧‧‧ Level Change Tower Module

226‧‧‧rail and channel module

228‧‧‧rail and channel module

230‧‧‧ Level

234‧‧‧horizontal support members

242‧‧‧Vertical Support Assembly

245‧‧‧Robot Support Rail

250‧‧‧ vertical channel

252‧‧‧Vertical Tower

254‧‧‧ Rack

FIG. 1 is a perspective view of an order fulfillment facility according to an embodiment of the present invention.

2 is a front perspective view of a storage module according to an embodiment of the present invention.

3A, 3B, and 3C are a top view, an end view, and a side view of a storage module according to an embodiment of the present invention.

4A is an exploded perspective view of a shelf module according to an embodiment of the present invention.

4B is an exploded perspective view of a shelf module including a cross brace according to an embodiment of the present invention.

5 is an exploded perspective view of a storage module according to an embodiment of the present invention.

6 is a perspective view showing a portion of an alignment feature for fixing a storage module to a tie beam according to an embodiment of the present invention.

7A to 7D are perspective views showing a storage module in different stages of assembly according to an embodiment of the present invention.

8 is a front perspective view of a step change tower module according to an embodiment of the present invention.

FIG. 9 is an enlarged view of a portion of a channel that enables a mobile robot to travel vertically within a rank change tower module according to an embodiment of the present invention.

10A, 10B, and 10C are a top view, an end view, and a side view of a tower module according to an embodiment of the present invention.

11A and 11B are respectively an exploded perspective view and an assembled perspective view of a rail and a channel module according to an embodiment of the present invention.

12 is an exploded perspective view of a tower module according to an embodiment of the present invention.

13 and 14 are a perspective view and a side view of a storage structure formed by a plurality of storage modules according to an embodiment of the present invention.

Claims (23)

A structure for an order fulfillment facility, the structure including: A plurality of storage modules, each of which includes a pair of spaced-apart shelf modules, each of the spaced-apart shelf modules includes a storage shelf for storing an inventory container, The plurality of storage modules are configured to be assembled vertically and horizontally relative to each other. If the structure of claim 1 further includes a pair of tie beams having alignment characteristics, one of the plurality of storage modules is supported on the pair of tie beams, and the tie beams make the storage module Equally spaced shelf modules can be reassembled relative to each other. For example, the structure of claim 1 further includes a pair of system boards having alignment characteristics, and one of the plurality of storage modules is supported on the pair of system boards. Equally spaced shelf modules can be reassembled relative to each other. A structure for an order fulfillment facility. The storage structure includes: A plurality of level-changing tower modules, each of which includes a pair of spaced track and channel modules, each of the spaced track and channel modules includes a warp configuration to enable a mobile robot to One channel travelling vertically, The plurality of level-changing tower modules are configured to be assembled vertically and horizontally relative to each other. If the structure of claim 4, further comprising a pair of tie beams having alignment characteristics, one of the plurality of level change tower modules is supported on the pair of tie beams, and the tie beams enable the storage The spaced track and channel modules of the modules can be re-assembled relative to each other. As in the structure of claim 4, it further includes a pair of system boards having alignment characteristics, and one of the plurality of level change tower modules is supported on the pair of system boards, and the system boards enable the storage The spaced track and channel modules of the modules can be re-assembled relative to each other. A structure for an order fulfillment facility, the structure including: The first storage module and the second storage module are configured to be positioned end-to-end with each other. The first output module includes: A first end having a first support plate at a bottom of one of the first storage modules; A second end opposite the first end and having a second support plate at the bottom of the first storage module; and A first set of storage locations, which are used to store inventory containers; The second storage module includes: A third end having a third support plate at a bottom of one of the second storage modules; A fourth end opposite the third end and having a fourth support plate at the bottom of the second storage module; and A second set of storage locations, which are used to store inventory containers; and A first tie beam configured to support the first end of the first storage module, wherein one of the first tie beam and the first support plate includes a first positioning pin, and the first The other of the tie beam and the first support plate includes a first positioning hole, and the first positioning pin is configured to pass through the first positioning hole to be received so that the first support plate and the first system Beam alignment A second tie beam configured to support the second end of the first storage module and the third end of the second storage module, wherein one of the second tie beam and the second support plate One includes a second positioning pin, and the other of the second tie beam and the second support plate includes a second positioning hole. The second positioning pin is configured to pass through the second positioning hole and is received. So that the second support plate is aligned with the second tie beam, and Wherein one of the second tie beam and the third support plate includes a third positioning pin, and the other of the second tie beam and the third support plate includes a third positioning hole, the third positioning pin Shaped to be received through the third positioning hole to align the third support plate with a third tie beam and align the third support plate with the second support plate. The structure of claim 7, wherein one of the first hole and the second hole is oblong to allow a tolerance of a first distance between the first positioning pin and the second positioning pin. If the structure of claim 7 further comprises a third tie beam configured to support the fourth end of the second storage module, one of the fourth tie beam and the fourth support plate includes a first Four positioning pins, and the other of the fourth tie beam and the fourth support plate includes a fourth positioning hole, the fourth positioning pin is configured to pass through the fourth positioning hole and is received so that the first Four support plates are aligned with the second tie beam. The structure of claim 9, wherein one of the third hole and the fourth hole is oblong to allow a tolerance of a second distance between the third positioning pin and the fourth positioning pin. The structure of claim 7, wherein the first storage module includes: A first vertical support assembly, which is installed vertically upward from the first support plate; and A second vertical support assembly is installed vertically from the second support plate. As in the structure of claim 11, further comprising a first plurality of horizontal levels extending between the first vertical support assembly and the second vertical support assembly, the first set of storage positions is provided in the first plurality of Horizontal level. The structure of claim 12, further comprising a pair of cross braces extending diagonally between the first set of vertical support assemblies and the second set of vertical support assemblies to maintain a flatness of the first storage module. . The structure of claim 12, wherein the second storage module includes: A third vertical support assembly, which is installed vertically upward from the third support plate; and A fourth vertical support assembly is installed vertically from the fourth support plate. If the structure of claim 14, further comprising a second plurality of horizontal levels extending between the third vertical support assembly and the fourth vertical support assembly, the second set of storage positions is provided in the second plurality of Horizontal level. A structure for an order fulfillment facility, the structure including: The first storage module and the second storage module are configured to be positioned above and below each other. The first storage module includes: A first end, which includes: A first support plate located at the bottom of one of the first storage modules, and A first system board located at the top of one of the first storage modules; and A second end is opposite to the first end, and the second end includes: A second support plate located at the bottom of the first storage module, and A second system board located at the top of one of the second storage modules; and A first set of storage locations, which are used to store inventory containers; A first tie beam configured to support the first end of the first storage module, wherein one of the first tie beam and the first support plate includes a first positioning pin, and the first The other of the tie beam and the first support plate includes a first positioning hole, and the first positioning pin is configured to pass through the first positioning hole to be received so that the first support plate and the first system Beam alignment A second tie beam configured to support the second end of the first storage module, wherein one of the second tie beam and the second support plate includes a second positioning pin, and the second tie pin The other of the tie beam and the second support plate includes a second positioning hole, and the second positioning pin is configured to pass through the second positioning hole to be received so that the second support plate and the second system Beam alignment The second storage module includes: A third end including a third support plate at a bottom of one of the second storage modules, A fourth end opposite the third end and including a fourth support plate at the bottom of the second storage module, and A second set of storage locations, which are used to store inventory containers; Wherein one of the first tie plate and the third support plate includes a third positioning pin, and the other of the first tie plate and the third support plate includes a third positioning hole, the third positioning pin Configured to be received through the third positioning hole to align the third support plate with the first tie plate; and One of the second tie plate and the fourth support plate includes a fourth positioning pin, and the other of the second tie plate and the fourth support plate includes a fourth positioning hole. Shaped to be received through the fourth positioning hole to align the fourth support plate with the second tie plate. The structure of claim 16, wherein one of the first hole and the second hole is oblong to allow a tolerance of a first distance between the first positioning pin and the second positioning pin. The structure of claim 17, wherein one of the third hole and the fourth hole is oblong to allow a tolerance of a second distance between the third positioning pin and the fourth positioning pin. The structure of claim 16, wherein the first storage module includes: A first vertical support assembly, which is installed vertically upward from the first support plate; and A second vertical support assembly is installed vertically from the second support plate. As in the structure of claim 19, further comprising a first plurality of horizontal levels extending between the first vertical support assembly and the second vertical support assembly, the first set of storage positions is provided in the first plurality of Horizontal level. The structure of claim 20, further comprising a pair of cross braces extending diagonally between the first set of vertical support assemblies and the second set of vertical support assemblies to maintain a flatness of the first storage module. . The structure of claim 20, wherein the second storage module includes: A third vertical support assembly, which is installed vertically upward from the third support plate; and A fourth vertical support assembly is installed vertically from the fourth support plate. The structure of claim 22, further comprising a second plurality of horizontal levels extending between the third vertical support assembly and the fourth vertical support assembly, and the second set of storage positions are provided in the second plurality of Horizontal level.